GaussianDensity.h

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/* ----------------------------------------------------------------------------
 
 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
 
 * See LICENSE for the license information
 
 * -------------------------------------------------------------------------- */
 
// \callgraph
#pragma once
 
#include <gtsam/linear/GaussianConditional.h>
 
namespace gtsam {
 
  class GTSAM_EXPORT GaussianDensity : public GaussianConditional {
 
  public:
 
    typedef std::shared_ptr<GaussianDensity> shared_ptr;
 
    GaussianDensity() :
      GaussianConditional() {
    }
 
    GaussianDensity(const GaussianConditional& conditional) :
      GaussianConditional(conditional) {
        if(conditional.nrParents() != 0)
          throw std::invalid_argument("GaussianDensity can only be created from a conditional with no parents");
    }
 
    GaussianDensity(Key key, const Vector& d, const Matrix& R, const SharedDiagonal& noiseModel = SharedDiagonal()) :
      GaussianConditional(key, d, R, noiseModel) {}
 
    static GaussianDensity FromMeanAndStddev(Key key, const Vector& mean,
                                             double sigma);
 
    void print(const std::string& = "GaussianDensity",
      const KeyFormatter& formatter = DefaultKeyFormatter) const override;
 
    Vector mean() const;
 
    Matrix covariance() const;
 
  };
  // GaussianDensity
 
}// gtsam